1. Interest and method

1.1 The benefits of frequency methods

The fundamental advantage is that the calculation of a corrector can be carried out on the basis of experimental open-loop harmonic analysis of the entire chain or its individual components.

Physical reality is thus taken into account in all its complexity (delays, friction, hysteresis, etc.).

For parts already modeled by a transfer function, recall that we obtain the complex gain by posing $p=\text{jω}$ .

It should also be noted that knowledge of open-loop Bode curves enables us to set realistic specifications for the expected servo speed. In particular,...